多传感器信息融合的机械臂避障路径规划方法  

Obstacle Avoidance Path Planning Method of Manipulator Based on Multi-Sensor Information Fusion

作　　者：曾赟[1] 丁爱萍[1] 何欣[2] ZENG Yun;DING Ai-ping;HE Xin(School of Information Engineering,Yellow River Conservancy Technical Institute,He’nan Kaifeng 475004,China;School of Software,He’nan University,He’nan Kaifeng 475004,China)

机构地区：[1]黄河水利职业技术学院信息工程学院,河南开封475004 [2]河南大学软件学院,河南开封475004

出　　处：《机械设计与制造》2023年第10期258-262,共5页Machinery Design & Manufacture

基　　金：河南省高等教育教学改革研究与实践项目——高职计算机类专业“产学研用”协同育人的研究与实践(2017SJGLX140)。

摘　　要：为降低机械臂运行损耗和避障路径规划耗时,减小障碍物定位误差,精准执行机械臂工作任务,提出了多传感器信息融合的机械臂避障路径规划方法。利用多传感器收集机械臂周围环境信息,经过数据层、特征层及决策层处理,结合传感器检测权重,融合出障碍因素综合信息。构建机械臂动力学模型,综合考虑移动基座、关节旋转角、质量及移动惯性等因素,利用线动量和角动量间守恒关系,得出强耦合特性综合力学函数,计算每个固定检测点与障碍物间距离,得出连动杆与障碍物间发生碰撞的可能性。建立人工势场,加入引力函数、斥力函数及限制函数,完成对机械臂运动避障的实际动作控制,实现最优平滑路径规划。经仿真实验证明,所提方法路径规划效率高,障碍物定位误差小,优化次数少,节省旋转角能量,鲁棒性好。In order to reduce the running loss of the manipulator and the time-consuming of obstacle avoidance path planning,reduce the obstacle positioning error and accurately perform the task of the manipulator,a multi-sensor information fusion method for obstacle avoidance path planning of the manipulator is proposed.The multi-sensor is used to collect the environmental information around the manipulator,which is processed by the data layer,feature layer and decision-making layer,combined with the sensor detection weight to fuse the comprehensive information of obstacle factors.Build the dynamic model of the manipu-lator,comprehensively consider the factors such as moving base,joint rotation angle,mass and moving inertia,and use the con-servation relationship between linear momentum and angular momentum to obtain the comprehensive mechanical function of strong coupling characteristics,calculate the distance between each fixed detection point and the obstacle,and obtain the possi-bility of collision between the linkage rod and the obstacle.The artificial potential field is established,and the gravity function,repulsion function and restriction function are added to complete the actual action control of the manipulator motion obstacle avoidance and realize the optimal smooth path planning.Simulation results show that the proposed method has high path plan-ning efficiency,small obstacle positioning error,less optimization times,saving rotation angle energy and good robustness.

关 键 词：多传感器 信息融合 机械臂避障 路径规划 动力学分析 引力函数 斥力函数 

分 类 号：TH16[机械工程—机械制造及自动化] TP243[自动化与计算机技术—检测技术与自动化装置]